ICP_odometry

[Masoumeh]

Hi Mattieu,

I just have Lidar, IMu, and odometry, I want to know am I able to use ICP-odometry? How can I activate it or use it?
 and
in some of the post I read about robot_localization package, I want to know more about it as well, that when  should I use it? and How can I activate it?
Thanks

[matlabbe]

You may check some config there: http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot